Class EigenQuaternionParameterization

Inheritance Relationships

Base Type

  • public LocalParameterization

Class Documentation

class ceres_error_terms::EigenQuaternionParameterization : public LocalParameterization

Public Types

typedef Eigen::Matrix<double, kGlobalSize, kLocalSize, Eigen::RowMajor> Jacobian
typedef Eigen::Matrix<double, kLocalSize, kGlobalSize, Eigen::RowMajor> LiftJacobian

Public Functions

inline virtual ~EigenQuaternionParameterization()
virtual bool Plus(const double *x, const double *delta, double *x_plus_delta) const
virtual bool ComputeJacobian(const double *x, double *jacobian) const
inline virtual int GlobalSize() const
inline virtual int LocalSize() const
bool Minus(const double *x, const double *y, double *x_minus_y) const
bool ComputeLiftJacobian(const double *x, double *jacobian) const

Public Static Attributes

static constexpr int kLocalSize = 3
static constexpr int kGlobalSize = 4